Browsing by Subject "Robotics"

Now showing items 1-20 of 581

    • A 3D descriptor to detect task-oriented grasping points in clothing 

      Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (2016)
      Article
      Open Access
      Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. ...

    • A constructivist didactic methodology for a humanoid robotics workshop 

      Miranda Añon, Alexandre; Bolea Monte, Yolanda; Grau Saldes, Antoni; Sanfeliu Cortés, Alberto (IEEE Press. Institute of Electrical and Electronics Engineers, 2012)
      Conference lecture
      Restricted access - publisher's policy
      This paper presents a constructivist methodology oriented to training Robotics in its wide sense, and its implementation in higher education. A humanoid robotics workshop is included as a part of the curriculum of ...

    • A feedback simulation procedure for real-time control of urban drainage systems 

      Romero Ben, Luis; Sun, Congcong; Guasch Palma, Ramon; Duran, Bernat Joseph; Meseguer, Jordi; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç (Elsevier, 2019)
      Conference report
      Open Access
      This paper presents a feedback simulation procedure for the real-time control (RTC) of urban drainage systems (UDS) with the aim of providing accurate state evolutions to the RTC optimizer as well as illustrating the ...

    • A field study with primary school children on perception of social presence and interactive behavior with a pet robot 

      Heerink, Marcel; Díaz Boladeras, Marta; Albo-Canals, Jordi; Angulo Bahón, Cecilio; Barco, Alex; Casacuberta Bagó, Judit; Garriga Berga, Carles (2012)
      Conference lecture
      Open Access
      This paper presents a study on measuring (1) how children experience a pet robot, (2) how they play with it and (3) how children’s perceptions on and interaction with pet robots are interrelated. The study features different ...

    • A framework for robotized teleoperated tasks 

      Basañez Villaluenga, Luis; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Nuño Ortega, Emmanuel; Portilla Rodríguez, Henry (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
      Conference report
      Open Access
      Teleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability ...

    • A Learning from demonstration approach for robot trajectories through motion-sensing human demonstrations 

      Poc López, Ángel (Universitat Politècnica de Catalunya, 2020-04-20)
      Master thesis
      Open Access
      The objective of this thesis is to teach a Baxter robot to learn certain arm trajectories. The robot must be capable of generalizing the primitive movement of the trajectory to new unseen poses. The thesis is framed ...

    • A linear relaxation technique for the position analysis of multi-loop linkages 

      Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2008)
      Research report
      Open Access
      This report presents a new method able to isolate all configurations that a multi-loop linkage can adopt. We tackle the problem by providing formulation and resolution techniques that fit particularly well together. The ...

    • A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis 

      Zaplana Agut, Isiah; Basañez Villaluenga, Luis (2018-03-01)
      Article
      Open Access
      © 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ...

    • A qualitative spatial descriptor of group-robot interactions 

      Falomir, Zoe; Angulo Bahón, Cecilio (Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2017)
      Conference report
      Open Access
      The problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks such as leading or interacting with a group of people is tackled in this paper. For that, ...

    • A Reactive Planning Framework for Dexterous Robotic Manipulation 

      Ballester Huesca, José Andrés (Universitat Politècnica de Catalunya, 2019-05-30)
      Bachelor thesis
      Open Access
      Covenantee:   Massachusetts Institute of Technology
      This thesis investigates a reactive motion planning and controller framework that enables robots to manipulate objects dexterously. We develop a robotic platform that can quickly and reliably replan actions based on sensed ...

    • A roadmap to robot motion planning software development 

      Pérez Ruiz, Alexander; Rosell Gratacòs, Jan (2009-02-23)
      Article
      Open Access
      PhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment ...

    • A space decomposition method for path planning of loop linkages 

      Porta Pleite, Josep Maria; Cortes, Juan; Ros Giralt, Lluís; Thomas, Federico (IEEE, 2007)
      Conference report
      Open Access
      This paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ...

    • A Stiffness-fault-tolerant control strategy for an elastically actuated powered knee orthosis 

      Velasco-Guillen, Rodrigo J.; Grosu, Victor; Carmona Ortiz, Víctor A.; Vanderborght, Bram; Lefeber, Dirk; Font Llagunes, Josep Maria; Beckerle, Philipp (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Conference report
      Restricted access - publisher's policy
      Elastic actuators can provide safe human-robot interaction and energy efficient mobility. For this purpose they are ideal for wearable robotic applications. However, such actuators are subject to stiffness faults. We present ...

    • A Survey of path following control strategies for UAVs focused on quadrotors 

      Rubí Perelló, Bartomeu; Pérez Magrané, Ramon; Morcego Seix, Bernardo (2019-11-09)
      Article
      Open Access
      The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference ...

    • A tool for knowledge-oriented physics-based motion planning and simulation 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan; Qazi, Wajahat Mahmood (2019)
      Part of book or chapter of book
      Open Access
      The book covers a variety of topics in Information and Communications Technology (ICT) and their impact on innovation and business. The authors discuss various innovations, business and industrial motivations, and impact ...

    • A view of network robot systems in urban areas in Europe 

      Sanfeliu Cortés, Alberto (IEEE, 2008)
      Conference report
      Open Access
      Presentation of the projects in network robot systems in Europe

    • A week-long study on Robot-Visitors Spatial Relationships during Guidance in a Sciences Museum 

      Díaz Boladeras, Marta; Paillacho, Dennys; Angulo Bahón, Cecilio; Torres, Oriol; González, Jonathan; Albo Canals, Jordi (ACM, 2014)
      Conference lecture
      Open Access
      In order to observe spatial relationships in social human-robot interactions, a eld trial was carried out within the CosmoCaixa Science Museum in Barcelona. The follow me episodes studied showed that the space con gurations ...

    • A wire-based active tracker 

      Andrade-Cetto, Juan; Thomas, Federico (IEEE, 2008)
      Article
      Open Access
      Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the ...

    • Acta de cloenda SYROCO'85 

      Universitat Politècnica de Catalunya. Institut de Cibernètica (1985-11-08)
      Audiovisual
      Open Access
      Acta de cloenda de la conferència SYROCO'85

    • Action intention recognition for proactive human assistance in domestic environments 

      Gallostra Acín, Javier (Universitat Politècnica de Catalunya, 2019-07-15)
      Master thesis
      Open Access
      The current Master’s Thesis in Automatics, Control and Robotics covers the development and implementation of an Action Intention Recognition algorithm for proactive human assistance in domestic environments. The proposed ...